from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription(
        [
            Node(
                package="hudar",
                executable="radar",
                name="radar",
                parameters=[
                    {
                        "model_path": "/home/rm/models/",
                        "lidar_topic": "/livox/lidar",
                        "camera_params": "/home/rm/lsa/hudar/properties/camera_params.yaml",
                        "mapping_file": "/home/rm/lsa/hudar/properties/MapMappingPoints.json",
                        "record_path": "/home/rm/lsa/hudar/properties/",
                        "cover_depth": False,
                    }
                ],
            ),
            Node(
                package="hudar",
                executable="gui",
                name="gui",
                parameters=[
                    {
                        "/gui/rmuc_map": "/home/rm/lsa/hudar/properties/map.jpg",
                    }
                ],
            ),
        ]
    )
